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Calling Global Localization Service in C++

asked 2012-08-07 05:32:01 -0500

pdunlap2
3 ●1 ●1 ●2

Hi all. I have found documentation on calling ros services using ros::service::call but I cannot figure out how to tell it I would like to call the /global_localization service that AMCL provides.

ros::service:call("/global_localization", ???)

What goes in place of the ???

I am working on a program that sends goals to the robot (using the /map frame) and I would like to call the service and have the robot drive around until it is localized instead of using RVIZ to give it a pose estimate manually. I know that I can use rosservice call /global_localization but I would like to do it programmatically if at all possible.

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answered 2012-08-07 05:43:26 -0500

flag of Germany

31395 ●134 ●284 ●498

rosservice type /global_localization will give you the service type to fill in there. You can lookup the contents of the request in the API description.

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answered 2019-08-11 03:29:38 -0500

rajmohan747
21 ●3 ●3

updated 2022-07-02 03:35:17 -0500

On typing rosservice info /global_localization, you can observe Type: std_srvs/Empty

So you may do service call like rosservice call /global_localization "{}"

OR

Programatically you may use it like

ros::NodeHandle nh;
ros::ServiceClient client =nh.serviceClient<std_srvs::empty>("/global_localization");
std_srvs::Empty srv;
client.call(srv);

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Asked: 2012-08-07 05:32:01 -0500

Seen: 1,391 times

Last updated: Jul 02 '22

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